Unified Lyapunov framework for stabilization and tracking of nonholonomic systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper collects recent results published in a series of papers and presents new results on stabilization and tracking for nonholonomic dynamic systems. A unified backstepping design methodology is proposed to tackle both the stabilization and tracking problems. The obvious advantage of this framework is that the controller design procedure is systematic and analytically simple, while the obtained controllers yield practically acceptable stability properties under moderate control efforts.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE
Pages2088-2093
Number of pages6
Volume3
StatePublished - 1999
EventThe 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA
Duration: Dec 7 1999Dec 10 1999

Other

OtherThe 38th IEEE Conference on Decision and Control (CDC)
CityPhoenix, AZ, USA
Period12/7/9912/10/99

Fingerprint

Stabilization
Controllers
Backstepping
Dynamical systems

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Jiang, Z-P. (1999). Unified Lyapunov framework for stabilization and tracking of nonholonomic systems. In Proceedings of the IEEE Conference on Decision and Control (Vol. 3, pp. 2088-2093). IEEE.

Unified Lyapunov framework for stabilization and tracking of nonholonomic systems. / Jiang, Zhong-Ping.

Proceedings of the IEEE Conference on Decision and Control. Vol. 3 IEEE, 1999. p. 2088-2093.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jiang, Z-P 1999, Unified Lyapunov framework for stabilization and tracking of nonholonomic systems. in Proceedings of the IEEE Conference on Decision and Control. vol. 3, IEEE, pp. 2088-2093, The 38th IEEE Conference on Decision and Control (CDC), Phoenix, AZ, USA, 12/7/99.
Jiang Z-P. Unified Lyapunov framework for stabilization and tracking of nonholonomic systems. In Proceedings of the IEEE Conference on Decision and Control. Vol. 3. IEEE. 1999. p. 2088-2093
Jiang, Zhong-Ping. / Unified Lyapunov framework for stabilization and tracking of nonholonomic systems. Proceedings of the IEEE Conference on Decision and Control. Vol. 3 IEEE, 1999. pp. 2088-2093
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